/*
 * pid.h
 *
 *  Created on: 2023/10/07
 */

/*
 * The MIT License (MIT)
 *
 * Copyright (c) 2023 Takayoshi Uemitsu (BestTechnology CO.,LTD.)
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in
 * all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 * THE SOFTWARE.
 *
 */

#ifndef PID_H_
#define PID_H_

#include <stdint.h>

typedef struct {
    int32_t Kp, Ki, Kd, Kf, delta_t;
    int32_t min, max;
    int32_t err[2];
    int32_t integral;
} TPIDParam_int, *PPIDParam_int;

void PIDReset_int (PPIDParam_int param);
int32_t PIDUpdate_int (PPIDParam_int param, int32_t feedback, int32_t target);

typedef struct {
    double Kp, Ki, Kd, Kf, delta_t;
    double min, max;
    double err[2];
    double integral;
} TPIDParam_real, *PPIDParam_real;

void PIDReset_real (PPIDParam_real param);
double PIDUpdate_real (PPIDParam_real param, double feedback, double target);

#endif /* PID_H_ */
